SYSTEMS AND METHODS FOR POSE DEVELOPMENT USING RETRIEVED POSITION OF A PALLET OR PRODUCT LOAD TO BE PICKED UP
First Claim
1. A method of operating an industrial vehicle comprising one or more sensors, one or more lifting elements, and a mobile computer, wherein the method comprises using the industrial vehicle to:
- receive measurement data from the one or more sensors of the industrial vehicle;
determine a current pose of the industrial vehicle in an environment based on the measurement data;
navigate the industrial vehicle to a pallet or product load utilizing the current pose and data from the one or more sensors of the industrial vehicle;
position the lifting elements to pick-up the pallet or product load with the one or more lifting elements of the industrial vehicle;
retrieve a position of the pallet or product load from placed object data associated with the pallet or product load;
develop a new pose of the industrial vehicle using the retrieved position of the pallet or product load; and
navigate the industrial vehicle through the environment utilizing the new pose and data from the one or more sensors of the industrial vehicle.
2 Assignments
0 Petitions
Accused Products
Abstract
A method and apparatus for using unique landmarks to position industrial vehicles during start-up. In one embodiment, a method of using pre-positioned objects as landmarks to operate an industrial vehicle is provided. The method comprises identifying a start-up scenario from sensor data, wherein the start-up scenario comprises a unique marker start-up or a pre-positioned object start-up. in response to the identified start-up scenario, either a unique marker or pre-positioned object is identified within a physical environment, wherein the pre-positioned object or unique marker corresponds with a sub-area of the physical environment. The industrial vehicle pose is determined in response to the identity of the pre-positioned object or unique marker and the industrial vehicle is operated based on the determined industrial vehicle pose.
47 Citations
17 Claims
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1. A method of operating an industrial vehicle comprising one or more sensors, one or more lifting elements, and a mobile computer, wherein the method comprises using the industrial vehicle to:
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receive measurement data from the one or more sensors of the industrial vehicle; determine a current pose of the industrial vehicle in an environment based on the measurement data; navigate the industrial vehicle to a pallet or product load utilizing the current pose and data from the one or more sensors of the industrial vehicle; position the lifting elements to pick-up the pallet or product load with the one or more lifting elements of the industrial vehicle; retrieve a position of the pallet or product load from placed object data associated with the pallet or product load; develop a new pose of the industrial vehicle using the retrieved position of the pallet or product load; and navigate the industrial vehicle through the environment utilizing the new pose and data from the one or more sensors of the industrial vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for operating an industrial vehicle, the system comprising a warehouse management system, the industrial vehicle, and one or more processors, wherein the industrial vehicle comprises one or more sensors, one or more lifting elements, and a mobile computer in communication with the warehouse management system, and the one or more processors execute functions to:
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receive measurement data from the one or more sensors of the industrial vehicle; determine a current pose of the industrial vehicle in an environment based on the measurement data; navigate the industrial vehicle to a pallet or product load utilizing the current pose and data from the one or more sensors of the industrial vehicle; position the lifting elements to pick-up the pallet or product load with the one or more lifting elements of the industrial vehicle; retrieve a position of the pallet or product load from placed object data associated with the pallet or product load; develop a new pose of the industrial vehicle using the retrieved position of the pallet or product load; and navigate the industrial vehicle through the environment utilizing the new pose and data from the one or more sensors of the industrial vehicle. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A system for operating an automated guided industrial vehicle, the system comprising a warehouse management system, the industrial vehicle, and one or more processors, wherein the industrial vehicle comprises one or more sensors, one or more lifting elements, and a mobile computer mounted to the industrial vehicle and in communication with the warehouse management system, and the one or more processors execute functions to:
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receive measurement data from the one or more sensors of the industrial vehicle; determine a current pose of the industrial vehicle in an environment based on the measurement data; navigate the industrial vehicle to a pallet or product load utilizing the current pose and data from the one or more sensors of the industrial vehicle; position the lifting elements to pick-up the pallet or product load with the one or more lifting elements of the industrial vehicle; retrieve a position of the pallet or product load from placed object data associated with the pallet or product load, wherein the placed object data is associated with a unique identifier stored in the warehouse management system; develop a new pose of the industrial vehicle using the retrieved position of the pallet or product load; and navigate the industrial vehicle through the environment utilizing the new pose and data from the one or more sensors of the industrial vehicle.
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Specification